Plural Frequency method and system for identifying metal objects in a background environment

ABSTRACT

A system for detecting metal targets located in a background environment such as the ground evaluates metal targets by processing components of signals at two or more different frequencies. A component of the received signal induced by the ground can be eliminated by subtracting signal components measured at two different frequencies. The received signal can be processed to account for changes in the background response with frequency. The type of an unknown target can be identified by processing background excluded components to produce data characterizing the target type.

FIELD OF THE INVENTION

The invention generally relates to metal detectors and, morespecifically, relates to a plural frequency method and system foridentifying metal objects located in a background environment such asmineralized ground.

BACKGROUND OF THE INVENTION

Metal detectors are commonly used to locate metal objects or "targets"buried in the ground or some other background environment. In general,metal detectors sense metal targets by detecting disturbances in anelectromagnetic field. There are a number of ways to detect thesedisturbances, but typically, they are sensed by observing signals in asearch coil assembly. In this context, it is important that the metaldetector distinguish between signals induced by the target and thebackground environment.

In practice, extracting meaningful data to identify a target in thepresence of a background environment is a difficult problem. Metaltargets exhibit behavior that is hard to classify because it varies withthe shape and composition of the target as well as the distance andorientation relative to the detector. In addition, the behavior of thebackground environment changes due to changes in its composition. Forexample, ground can have a varying degree of iron content, which hasferromagnetic properties. The ground can also include slightlyconductive materials as well. Assumptions about the signals induced bythe background environment can simplify the design of the metaldetector, but often lead to inaccuracies in detecting and evaluating atarget.

A transmit/receive, induction balanced metal detector is one type ofdetector commonly used to locate metal objects in the ground. Thedetector is referred to as "induction balanced" because it employs aninduction balanced search loop to sense targets. In this type ofdetector, the search loop (also known as the "search head") includes atransmit and receive coil. The two coils are designed such that themutual inductance between them is balanced or "nulled." When a signal isapplied to the transmit coil in the presence of a metal object aresponse signal is induced in the receive coil. Both the metal objectand the background material that surrounds it can contribute to theresponse signal, so the signal must be processed to reduce the portionof the signal induced by the background material.

When the search loop transmits and receives a signal at a singlefrequency, it is particularly difficult to extract meaningfulinformation from the response signal that is useful in evaluating ametal target. "Single frequency" metal detectors transmit and receive asignal at a single frequency, and then measure the phase angle andmagnitude of the received signal. These "single frequency" detectorstypically measure the response signal with two phase detectors inquadrature, and then compute a resistive to reactive ratio from theoutputs of the phase detectors. The user can then attempt to identify atarget buried in the ground by its resistive to reactive ratio.

It is difficult to identify targets in the background environment in asingle frequency detector. As the user sweeps the search loop over theground, the motion produces changes in the received signal. Since thefrequency of these changes is different for the ground than for a metaltarget, filters are typically used to reduce the portion of the responsesignal due to the ground. When filters are used, however, the user hasto move the search head skillfully to identify targets in the ground.The performance of the metal detector varies with sweep speed, making itdifficult to obtain a resistive to reactive ratio that is useful indiscriminating among different types of targets.

Identifying a target is especially difficult where the ground produces astrong response or changes often. Moreover, targets deeper in the groundare more difficult to detect, even for more experienced users.

Another problem with using filters is that distortion can occur when anumber of metal objects are near the sweep path of the detector. Filterstend to store energy due to a target for a delayed period because of aphenomena known as group delay. As the user sweeps the search head, thefilter can retain energy from a first target while the search head isactually located over another. Because of this effect, the user can missvaluable targets and waste time digging in the wrong place.

The resistive to reactive ratio computed in the single frequency metaldetectors described above can assist a user in discriminating amongtargets. To accomplish target discrimination effectively however, theuser must move the search loop very skillfully over the ground. Evenassuming the user can move the search head skillfully, targetdiscrimination is difficult because many targets have similar resistiveto reactive ratios.

One approach for improving on the single frequency method is to useground exclusion balancing. The ground response can be substantiallyremoved by adjusting a phase axis of the detector to be in quadraturewith the ground response. The ground balanced phase detector axis can bederived by summing the two quadrature outputs. Ground balancing islimited in that it only removes the ground component from the phasedetector axis in quadrature with the ground response. The other phasedetection axis still includes a ground component. Ground exclusionbalancing, however, can be used to improve a single frequency detectorby using it to trigger the measurement of a resistive to reactive ratio.For example, ground exclusion balancing circuitry can be used to gate oncircuitry used to measure a resistive to reactive ratio when a target ispresent. As a result, the resistive to reactive ratio need only becomputed when a target is near the search head. This approach canimprove a single frequency metal detector, but the problems of targetidentification still remain.

As an alternative approach, some metal detectors transmit and receivesignals at two frequencies and process the received signals to detectmetal objects in a background environment. These types of detectors, tothe extent known to the inventor, have a variety of limitations. First,some of these detectors process signals at different frequencies for thesole purpose of distinguishing metal objects from the backgroundenvironment. These detectors fail to provide target specific data toidentify an unknown target.

Second, some of these detectors make improper assumptions about responsesignals due to the background material. The most common assumption isthat the background response does not change with frequency. In manyenvironments, this assumption is not valid. Therefore, detectors basedon this assumption produce erroneous results in background environmentswhere the background induced signal changes with frequency.

SUMMARY OF THE INVENTION

The invention provides a method and system for identifying metal targetslocated in a background environment. A metal detector designed accordingto the invention transmits signals into the ground or other backgroundenvironment at two or more different frequencies. The detector thenmeasures signals induced in a receive coil at two different phases. Toremove signal components due to the background, the detector subtractscomponents measured at two different frequencies. The detector processesthe resulting background excluded components to evaluate the type oftarget.

There are a number of different ways to produce background excludedcomponents according to the invention. These background excludedcomponents can be generated whether or not the background responsechanges with frequency. When the background response does change withfrequency, the signal components measured by the detector can beprocessed to compensate for changes in the background response. Forexample in one embodiment, a metal detector adjusts the componentsmeasured from the signals at different frequencies to compensate for anychange in the background response. The background response can then beremoved by subtracting the adjusted components.

In another embodiment, the phases at which the received signal ismeasured can be adjusted for each frequency such that the backgroundresponse is substantially zero at one phase. The magnitude of thecomponent in phase with the background response can then be adjusted tocompensate for any change in the background response.

There are number of different ways to evaluate the target type using thebackground excluded components. By removing the background responsethrough subtraction, the detector can evaluate the material type of thetarget without requiring any motion of the detector. In one embodiment,a metal detector evaluates an unknown target by comparing data extractedfrom background excluded components for an unknown target to storedtarget data for known targets. The stored target data can be adjustedfor different types of background environments and then compared withbackground excluded data for an unknown target. The target type can beevaluated by determining whether the background excluded data is withinpreset tolerances of the stored target data.

In another embodiment, a target model can be used to evaluate an unknowntarget. One particular target model includes the DC resistance toinductance ratio and a skin constant. In one embodiment, the DCresistance to inductance ratio and a skin constant can be computed fromthe background excluded components. The resulting data can then be usedto identify an unknown target. This invention includes other targetevaluation types.

When designed with one or more of the features outlined above, a metaldetector can have a number of advantages over present systems. As notedabove, unknown targets can be discriminated from ground withoutrequiring motion of the detector. This enables a user to detect moreaccurately targets located deeper in the ground and in the midst oftrash.

In addition, a metal detector can more accurately eliminate a backgroundresponse, even if the background response changes with frequency.

The invention supports a number of target evaluation techniques. Oneexample is processing the background excluded components to find a DCresistance to inductance ratio and a skin constant. The identity of anunknown target can be identified more specifically using thisinformation. For instance, the skin constant provides information aboutthe size and shape of the target, while the DC resistance to inductanceratio provides information about the target type.

Further advantages and features will become apparent with reference tothe following detailed description and accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a functional block diagram illustrating an embodiment of theinvention in a metal detector.

FIG. 2 is a block diagram illustrating the metal detector of FIG. 1 inmore detail.

FIGS. 3A-D is a schematic diagram illustrating a specific embodiment ofthe metal detector of FIG. 2.

FIG. 4 is a block diagram illustrating the ground subtraction subsystemin an embodiment of the invention.

FIG. 5 is a block diagram illustrating the target evaluation subsystemin an embodiment of the invention.

FIG. 6 is a plot of background excluded components for two differenttargets.

FIG. 7 is a block diagram illustrating an alternative embodiment of theinvention that includes filters to remove the background response.

FIG. 8 is a diagram depicting a differential loop configuration.

FIG. 9 is a flow diagram illustrating a method for computing R_(dc) /Land a skin constant K for an unknown target in an embodiment of theinvention.

DETAILED DESCRIPTION

FIG. 1 is a functional block diagram illustrating an embodiment of theinvention in a metal detector. The metal detector illustrated in FIG. 1includes a controller 20, a signal driver 22, transmit and receive coils24, 26, phase detectors 28, a signal processor 30, and input and outputdevices 32, 34.

The input device 32 enables the user to control the metal detector. Forinstance, the user can use the input device to adjust the detector fordifferent ground environments. As another example, a user can selectoperating modes through the input device, such as modes for groundbalancing or adjusting the phase detectors to cancel or record offsets,modes to input target data used in comparing with unknown targets, andsearch modes for detecting and identifying unknown targets.

During the process of searching for metal targets, the controller 20provides control signals to the signal driver 22 and the signalprocessor 28. The controller 20 causes the signal driver 22 to applysinusoidal signals at two or more frequencies to the transmit coil 24.The signal driver can be implemented to apply these periodic drivesignals in parallel or in series to the transmit coil. If implemented inparallel, typically a separate channel would be provided for processingreceived signals corresponding to the various frequencies of thetransmitted signals. Also, each of these channels would typicallyinclude separate X and Y phase detectors for processing the receivedsignals in the manner described below for a series implementation. Anymutual inductance between the transmit and receive coils are hulled sothat signals induced in the receive coil are attributable to thebackground material and any metal target(s) located in it.

The signals induced in the receive coil 26 are applied to the phasedetectors 28. The phase detectors measure the signal in the receive coilat two different phases. Because the signal driver 22 drives thetransmit coil at two or more frequencies, the phase detectors aredesigned to measure the received signals at frequencies corresponding tothe drive signal frequencies.

The signal processor 30 receives output signal components from the phasedetectors 28 and processes these components to perform backgroundsubtraction and target evaluation. Background subtraction refersgenerally to the process of subtracting signal components measured atdifferent frequencies to remove a component of the received signalinduced by the background material. The result of background subtractionin the illustrated embodiment are background excluded components of thereceived signal. These background excluded components can be used intarget evaluation. Target evaluation refers generally to processing thebackground excluded components to evaluate an unknown target. Afterprocessing the background excluded components, the signal processor 30transfers the results of its target evaluation to an output device 34.

The output device conveys the results of the target evaluation to theuser. Preferably, the output device includes a display device forpresenting alpha-numeric and graphical data to the user. The outputdevice can also include an audio speaker, which can indicate to the userwhen metal targets are in proximity to the search loop.

FIG. 2 is a block diagram illustrating an embodiment of the metaldetector of FIG. 1 in more detail. The control logic 40 issues controlsignals 42 and 60 to actuate switches in the transmit drive block 44.The switches control the issuance of sinusoidal drive signals 50 atdifferent frequencies to the transmit coil 52. In this particularembodiment, the transmit drive block 44 provides periodic signals atfour different frequencies. The number of signals issued at differentfrequencies can vary, but the drive signals should preferably includesignals at two or more different frequencies.

The transmit drive block 44 provides a multiplexed, 4 frequency signal50 in response to control signals from the control logic 40. Thetransmit drive block provides each of the four frequencies for a timesufficient to allow the sample and hold blocks 80, 82 to capture thephase detector outputs 76, 78. For each of the four frequencies, thetransmit drive block provides a signal for sufficient time to captureoutput from the two phase detectors in the sample and hold blocks. Thetransmit drive block then switches to the next frequency.

The control logic 40 also supplies control signals 46 to a capacitorbank 48. The capacitor bank 48 includes a bank of capacitors used totone the coils, as well as switches to switch among the differentcapacitors. The capacitor bank 48 is coupled to the transmit coil 52 sothat it can tune the coil for the appropriate frequency. To reduce powerconsumption, the transmit 52 is tuned to resonate at frequenciescorresponding to the drive signals applied to the transmit coil. It isnot necessary to tone the coils in this manner; however, tuning thecoils makes them more sensitive and reduces the required drive current.

Specific exemplary frequencies at which the transmit coil is driven are:33.21 kHz, 11.07027 kHz, 3.69009 kHz, and 1230.03 Hz. However, any of anumber of different frequencies can be used. Preferably the frequenciesshould range from around 400 Hz up to about 100 kHz.

Higher transmit current and lower receive gain can be used to alleviatenoise. Increased field strength will cause a larger return from targetsburied in the ground and make it possible to reduce the receive gain. Itis this gain reduction that makes the instrument less sensitive toexternal noise. Once the field strength is increased, receive coil turnsor pre-amp gain can be reduced in order to reduce noise.

Signals 56 induced in the receive coil 54 are transferred to theswitched pre-amp 58. The switched pre-amp 58 includes band-pass filters,and control switches corresponding to the signals driven on to thetransmit coil. Band-pass filters are used to capture the received signalfor the frequency of the current drive signal on the transmit coil. Thecontrol logic 40 controls the operation of the switched pre-amp 58 byissuing control signals 60 to switches within the switched pre-amp.

The switched pre-amp provides a signal 62 representing the inducedsignal in the receive coil to the X and Y phase detectors 64, 66. Tocontrol the X and Y phase detectors, this embodiment includes acomparator 68 and a phase shifter 70. The transmit drive 44 provides thedrive signal 50 to the transmit coil and to the comparator 68. Thecomparator 68 is used to generate a square wave, which is then used todrive the X phase detector. The output 72 of the comparator 68 is alsoapplied to the phase shifter 70 and shifted 90°. This shifted signal 74is then used to drive the Y phase detector 66. Since the phase shifteris set to 90°, the X and Y phase detectors are in quadrature. The X andY phase detectors measure the received signal at two different phases.

The outputs of the X and Y phase detectors 76, 78 are then supplied tocorresponding sample and hold blocks 80, 82. In this embodiment, eachsample and hold block includes sample and hold circuitry for each of thefour frequencies at which the transmit coil is driven. As shown in FIG.2, the microprocessor and control logic 40 supplies four control signals46 to both the X and Y sample and hold blocks. The control logic alsoprovides control signals 84a, 84b to inhibit sampling during transitionsfrom one frequency to the next.

This embodiment includes a multiplexer 90, coupled to the sample andhold blocks, to select among the sampled signals 86, 88 at differentfrequencies. The output of the multiplexer is a selected output 92 ofthe X and Y sample and hold blocks. This output is applied to an analogto digital converter 94 to convert the analog signal sampled from thephase detectors to a digital signal 96. The digital signal is thenapplied to a digital signal processor for additional processing.

The digital signal processor 98 is responsible for both groundsubtraction and target evaluation in this embodiment. Digital signalsfrom the analog to digital converter are first conditioned (100) andthen supplied to the ground subtraction subsystem 104. The processinginvolved in ground subtraction is described in more detail below. Ingeneral, the ground subtraction subsystem subtracts two correspondingcomponents of received signals measured at two different frequencies toeliminate the portion of the received signal due to the ground response.More specifically, the X phase detector 80 is designed to measure acomponent of a received signal that is substantially in phase with theresponse due to ground. By measuring the X component of a receive signalat two different frequencies and then subtracting the components, theresponse due to ground can be removed substantially, if not entirely.

The target evaluation subsystem 108 represents the portion of theprogrammed signal processor responsible for target evaluation. In thisembodiment, inputs to the target evaluation subsystem include groundexcluded components from the ground subtraction portion of the processoras well as the Y component in the receive signal. In response toreceiving these measured components of the receive signal, the targetevaluation subsystem extracts additional data used to identify thematerial type of the target. Alternative methods and systems for targetevaluation are described in more detail below.

The output of the target evaluation portion of the processor ismanipulated so that it can provide a meaningful visual or audio outputto the user. In this embodiment, visual data is displayed to the userthrough a conventional display device such as a dot matrix LiquidCrystal Display. Audio data is also conveyed to the user via aconventional audio output device such as a speaker. A variety ofalternative output devices can be used for the same purpose.

FIGS. 3A-D is a schematic diagram illustrating a specific embodiment ofthe metal detector of FIG. 2. Sections of the diagram are enclosed indashed lines and labeled to illustrate how parts of the schematicdiagram correspond to the components of FIG. 2. The circuit componentsare also labeled to identify their part numbers and valises whereappropriate.

The embodiment of FIG. 2 includes additional components used to processthe output of the X and Y sample and hold circuits. Any of a number ofcommercially available components can be used to implement themultiplexer 90 and the A/D converter 94. The digital signal processor(DSP) also can be implemented using a variety of commercially availablecomponents. One suitable processor is the TMS320C203 from TexasInstruments.

In this embodiment, the ground subtraction subsystem 104 refers to partof the metal detection system used to remove components of the receivedsignals caused by the background environment. This metal detector isdesigned to remove a component of the response signals due to theground, e.g. mineralized soil. However, the methods of subtractingbackground components apply to other background environments as well.

The ground subtraction subsystem can remove background componentswhether or not the background response changes with frequency. Asdescribed above, the phase detectors measure components of the receivedsignals at two phases for each frequency. The ground subtraction systemremoves the background response from these components by subtractingselected signal components from each other. When the background responsechanges with frequency, the ground subtraction block adjusts the gainand/or phase of the detection axes to compensate for the change in thebackground component. In this specific embodiment, the groundsubtraction subsystem performs these adjustments so that the groundcomponent at one axis is zero or substantially zero and the groundcomponent at the other axis is the same, or substantially the same, ateach frequency. It is also possible to adjust the phase at which eachphase detector measures the response signal and adjust the gain appliedto the measured components to achieve the same effect.

In this embodiment, the phase detection axes can be adjusted tofacilitate removal of the background response. One phase axis is alignedto be in quadrature with the phase of the background response. The otherphase axis is then set in phase with the background response.

The process of setting the phase detection axes occurs as follows.First, the user holds the search loop away from the ground and promptsthe detector to measure any phase detector offsets. The phase detectoroffsets are cancelled or recorded such that only the change due toobjects in proximity of the search loop are measured.

Next, the user places the search loop on the ground (away from targets)and prompts the detector again. The phase of each pair of axes isadjusted for zero on the Y axis (ground balanced).

Since the axes are 90° apart, balancing the Y axis forces the X axis tobe in phase with the ground. Overall gain (for both X' and Y') is thenadjusted to match the X channel ground reading at each frequency (X' isheld constant and X", X"',etc. are adjusted to match).

The background response is removed by subtracting the componentsmeasured at the X axes for two signals at different frequencies. Sincethe Y component is in quadrature with the phase of the backgroundresponse, it has essentially no ground component. The X component, onthe other hand, is in phase with the ground response at each frequency.Therefore, it includes a component due to any target as well as thebackground component. When the background component does not change withfrequency, the background component can be removed by subtracting thecomponents measured in the X axes at different frequencies. When thebackground component does change with frequency, however, the X and Ydetection axes are adjusted. In determining the corrected axes, the gainapplied to both detection axes is adjusted such that the backgroundcomponent is substantially equal at each frequency. The backgroundcomponent can then be removed by subtraction.

The ground subtraction system can be implemented using strictly hardwareor using a combination of hardware and a programmed microprocessor. Inthe illustrated embodiment, a programmed data processor performs groundsubtraction processing. To describe this processing in more detail, Ibegin by explaining the parameters and data used in computing groundexcluded components of the received signal.

In the example to follow, the phase detection axes are adjusted tocompensate for changes in the background response. The componentsmeasured in these background "adjusted" or "corrected" detection axescan then be processed to remove the background response.

The received signal can be expressed in terms of its X and Y components,which correspond to components of the received signal that project intothe purely reactive (X) axis and the purely resistive (Y) axis. Assume(X₁,Y₁) and (X₂,Y₂) are the components of the received signal due to thetarget at two discrete frequencies. Also assume that (G_(X1),G_(Y1)) and(G_(X2),G_(Y2)) are the components of the received signal due to thebackground at the same two frequencies. With these assumptions, thecomponents of the received signal due to both the background and thetarget can be expressed by Equations 1 and 2 for the two differentfrequencies.

    RS.sub.1 =(X.sub.1 +G.sub.X.sbsb.1, Y.sub.1 +G.sub.Y.sbsb.1)(1)

    RS.sub.2 =(X.sub.2 +G.sub.X.sbsb.2, Y.sub.2 +G.sub.Y.sbsb.2)(2)

    G.sub.1 =(G.sub.X.sbsb.1, G.sub.Y.sbsb.1)                  (3)

    G.sub.2 =(G.sub.X.sbsb.2, G.sub.Y.sbsb.2)                  (4)

Equations 3 and 4 represent the components of the received signal due tothe background only at the respective frequencies. While this examplerefers to signals at two different frequencies, the same principlesapply where additional signals at different frequencies are transmittedand received.

The ground subtraction system processes the outputs of the X and Y phasedetectors (the X and Y components) using parameters, or "constants"derived from the background responses measured at the differentfrequencies. These parameters are defined in equations 5-10 below.##EQU1##

In this example, the scaling factor, K_(G1), is set to one, and thebackground components for signals at other frequencies are scaledrelative to it.

Using the parameters described above, the background correctedcomponents for signals at different frequencies can be computedaccording to the following equations:

Adjusted axes for F₁ :

    X'=(K.sub.G.sbsb.1)(K.sub.a)(X+(K.sub.1)(Y))               (11)

    Y'=(K.sub.G.sbsb.1)(K.sub.a)(Y-(K.sub.1)(X))               (12)

Adjusted axes for F₂ :

    X"=(K.sub.G.sbsb.2)(K.sub.b)(X+(K.sub.2)(Y))               (13)

    Y"=(K.sub.G.sbsb.2)(K.sub.b)(Y-(K.sub.2)(X))               (14)

X', Y', X", and Y" of equations 11-14 represent the components of thereceived signal measured at the adjusted phase detection axes.

The background components measured using these adjusted phase detectionaxes can then be expressed as set forth in equations 15 and 16.

    G.sub.1.sup.' =(G.sub.X.sbsb.1.sup.', G.sub.Y.sbsb.1.sup.')(15)

    G.sub.2.sup." =(G.sub.X.sbsb.2.sup.", G.sub.Y.sbsb.2.sup.")(16)

The projection of the ground response onto each adjusted Y phasedetection axis is zero or about zero as shown in equation 17.

    G.sub.Y.sbsb.1.sup.' =G.sub.Y.sbsb.2.sup." =0              (17)

The projection of the ground response onto each adjusted X axis is equalor about equal as shown in equation 18.

    G.sub.X.sbsb.1.sup.' =G.sub.X.sbsb.2.sup."                 (18)

The total received signal (ground plus target), as measured on theadjusted axes, is given by equations 19 and 20.

    RS.sub.1 =(X.sub.1.sup.40 +G.sub.X.sbsb.1.sup.', Y.sub.1.sup.')(19)

    RS.sub.2 =(X.sub.2.sup." +G.sub.X.sbsb.2.sup.", Y.sub.2.sup.")(20)

Since the projection of the ground response on the adjusted X axis foreach frequency is equal, the remaining background can be removed bysubtracting X data for any two frequencies. Subtracting these componentsproduces a background excluded difference, which can then be used tocharacterize the target.

FIG. 4 is a block diagram illustrating the ground subtraction subsystemin more detail. FIG. 4 illustrates ground subtraction processing forsignals at three different frequencies: f1, f2, and f3. The results ofmeasuring the components of fourth signal at frequency, f4, are used tocompute a background excluded difference as well. Additional stages canbe added for signals at different frequencies.

In the illustrated embodiment, the detector transmits and receivessignals at four different frequencies, but more stages can be added toextend the frequency range and improve the resolution of the resultingdata.

The blocks shown in FIG. 4 implement the processing reflected inequations 11-14 listed above. An example will illustrate the operationof the ground subtraction subsystem. The X and Y components (142, 144)of a signal at frequency f1 are multiplied by -K₁ and K₁ (146, 148),respectively. The result from the first block (146) is then added to theY component (144). Similarly, the result from the second block (148) isthen added to the X component (142). The result of both of the add steps(150, 152) is then multiplied by another constant, K_(G1) *K_(a), asshown (154, 156). The result of multiplying the output of the addoperation (150) by K_(G1) *K_(a) is the adjusted X component, X'(f1)(158). To compute the background excluded difference, the adjusted Xcomponent, X'(f1), is subtracted from a second adjusted X component,X"(f2) (160). The remaining blocks perform this computation in a similarfashion. The parameter, Kc, is computed using a similar approach as withKa and Kb described above in equations 7 and 8.

While we have illustrated an implementation using a programmed dataprocessor, the process of removing background responses can beimplemented in a number of alternative ways. For example, the backgroundsubtraction system can be implemented using hardware components toadjust the phase axes and the gain applied to the output of the phasedetectors. In this alternative implementation, the user manually adjuststhe axes of the phase detectors at each frequency to set-up the detectorfor a particular type of background. In addition to adjusting the phaseaxes, the user also adjusts the gain such that the ground response issubstantially equal at different frequencies. This implementationprovides an output signal, either audible or visual, enabling the userto match the ground response at each frequency. The X components,adjusted appropriately by the gain set by the user, can then besubtracted to compute a background excluded difference.

Other variations to the implementation are also possible. The phasedetectors are set to be in quadrature in the illustrated embodiment withone phase 90° out of phase with the ground response. However, the X andY phase detectors can be adjusted to a variety of different phases. Thereceived signal can also be measured in polar form using a phase meterto measure phase shift and a synchronous rectifier to measure magnitude.The processing of the ground subtraction subsystem can be performed inpolar form, or polar to rectangular conversion can be performed tocompute the background excluded components as described above.

The components measured in the phase detectors can be processed usinganalog hardware elements, discrete logic elements or a programmed dataprocessor to compute background excluded components by subtraction. Assuch, I do not intend to limit the scope of my invention to specificimplementation of the phase detectors or the processing of phasedetector outputs.

After processing the X and Y components, the ground subtractionsubsystem transfers background excluded components to the targetevaluation subsystem. There are a number of different target evaluationtechniques that can be applied to the background excluded components todiscriminate among different types of targets.

In one approach, the background excluded components at the differentfrequencies can be compared with background excluded components of knowntargets. I refer to this approach as mapping because background excludeddata for stored targets is mapped into memory according to currentground conditions and compared with unknown targets. This approach canbe used in environments where the background response does or does notchange with changing frequency, subject to the issues described below.

As conceptual background for this approach, consider the followingexample. Assume each X phase detection axis is purely reactive and thateach Y axis is purely resistive. Also assume that the x axis outputs aresubtracted to produce the background excluded difference. In this case,a non-ferrous target at a fixed distance will yield the same outputs,whether located in the ground or not. Further, different targets willproduce different outputs as long their respective resistive to reactiveratios are different.

In cases where the phase detection axes are adjusted for a changes inthe background response over frequency, a non-ferrous target at a fixeddistance will still yield the same background excluded data whether thetarget is located in the ground or not. Again, different targets willyield different background excluded data as long as their resistive toreactive ratios are different. However, the answer for the same targetis different at each different ground setting. Although backgroundexcluded data remains proportional, it changes with target distance andmust be normalized to one amplitude.

For both changing and unchanging background, the normalized backgroundexcluded data is unaffected by motion of the search loop relative toground because the background response is removed by subtraction. In oneembodiment, the target evaluation subsystem performs targetdiscrimination using a mapping approach as set forth below.

As noted above, the normalized background excluded data is unique fordifferent targets to the extent that the resistive to reactive ratio isunique for those targets. The background excluded components, therefore,can be used to characterize the target type. The normalized backgroundexcluded components are the same for a given target whether the targetis buried in the ground or not. Although the search loop may of coursebe moved as the user searches for metal targets in the ground, thebackground excluded data can be generated without requiring motion ofthe search loop relative to the background in which targets are located.

After computing the normalized background excluded components, thetarget evaluation subsystem can then compare the normalized backgroundexcluded components for known and unknown targets and identify a targettype based on the proximity of this data to data characterizing recordedtargets.

If the background response changes as a function of frequency, theapproach described above should be modified because a single target willproduce different background excluded response data for different groundsettings. This problem arises because different phase and gain settingsare used to compensate for changes in the background response.

The example used above will illustrate the problem for detectors thatadjust the phase detection axes to account for changes in the backgroundresponse. Background excluded data for two frequencies is (X₂ "-X₁ '),Y₂ ", and Y₁ '. For additional frequencies, the background excluded dataincludes: (X₃ "'-X₂ "), Y₃ "', and Y₂ ". The normalized backgroundexcluded data is usually unique for different targets, which makes itbeneficial in target evaluation. However, it can be different for thesame target in different background environments, which makes targetevaluation more difficult.

To address this issue, the stored target data can be mapped to a desiredpair of axes based on the relationship between X" and Y", X' and Y', andthe X and Y axes. This enables the detector to calculate a new set oftargets based on stored readings each time the user balances to a newground condition.

FIG. 5 is a block diagram illustrating one implementation of the targetevaluation subsystem. In this approach, the subsystem 108a compares dataextracted for unknown targets with data mapped from a number of knowntargets. To identify the unknown target, the subsystem determineswhether the incoming data matches or comes within a predefined toleranceof mapped target data. The stored target data used for mapping caninclude standard target data preset in memory as well as data added bythe user.

This implementation includes three primary data paths. A first data pathis used to store component data readings for known targets. To storethis form of target dam, the user selects an option on the input deviceof the detector to place it in the proper mode, and then passes the"known" target in front of the search loop. The measured responsesignals (180), including a response due to the ground when ground ispresent, are transferred from the input signal conditioning blockthrough the normalizing block. The normalized data is then transferredto target data storage (186). Since normalized phase detector data isbeing stored (no ground rejection), component data should be saved inthe absence of ground. Both user saved and standard targets remain hereuntil ground settings are updated.

The second data path is used to adjust the stored target data for thebackground environment to be searched. After the detector is groundbalanced as explained above, stored target data is adjusted according tothe background environment. The target evaluation subsystem performsthis adjustment because the same target can yield different backgroundexcluded components in different background environments.

Referring to FIG. 5, the stored target data (188) is routed through theinput signal conditioner 100 and ground subtraction subsystem 104 andnormalized again (182). The reprocessed target data (190) is then savedas "currently mapped" (192). Since the "currently mapped" target data ismodified by ground subtraction, it can be compared with backgroundexcluded components for unknown targets in the background environmentcurrently being searched. In this embodiment, the process of adjustingthe stored target data is performed each time the ground settings forthe detector are updated for the background environment. For each updateof the ground settings, a new target map is generated and saved.

The third data path is used to identify unknown targets while searchingin a background environment. As the user hunts, digital data from theA/D converter passes through the input signal conditioner 100, and theground subtraction subsystem 104 computes background excludedcomponents. The background excluded data is then normalized (194) andcompared with mapped targets (196) in the target compare block (198).When a match occurs, the identity of the target is then output via anoutput device. If no match occurs, a "rejection" or "unknown" indicationis output via the output device. Any target not in the map, whether goodor bad, falls into this "unknown" category.

As an alternative to mapping, a plot of the background excludedcomponents can be displayed to the user. Based on the shape of thisplot, the user can discriminate among different types of targets.

FIG. 6 is a plot of background excluded differences (X_(n) -X_(m)) and Ycomponents (Y_(n)) at four different frequencies for two differenttargets. More precisely, FIG. 6 illustrates a plot of (0,Y₁), (X₂-X₁,Y₂), (X₃ -X₁,Y₃), and (X₄ -X₁,Y₄), for a quarter (204) and a nail onend (206), measured at 4 different frequencies. Valuable targets can bediscriminated from other materials based on this type of plot. Note thatthe plots span the same quadrants and even overlap. Since the plots fordifferent targets are not easily separated in some cases, this approachis not a preferred approach.

An alternative embodiment, the detector can plot the background excludedcomponents measured in an environment where the phase detection axes areadjusted to compensate for changes in the background response. However,the same target plotted for different ground settings usually results indifferent plots. If this data is plotted and displayed for the user, theuser should know how the shape of a plot for desired targets changes fordifferent background environments.

In another alternative embodiment, the target evaluation subsystem usesa target model to evaluate the material type of a target. The targetmodel enables the target evaluation subsystem to provide a continuousrange of output values for unknown targets. This is different fromtarget mapping, where the target evaluation subsystem only identifieswhether data for an unknown target is within predefined tolerances ofknown target data. An example will help illustrate this distinction.

One example of a continuous range of output values is the resistive toreactive ratio. I refer to this range of values as the resistive toreactive continuum. The resistive to reactive ratio for any target failsat a point along this continuum. In contrast to the mapping approach, avalue representing this ratio can be computed and presented to the userfor any unknown target. The user can assess the material type of atarget based on the computed ratio.

When the background response is removed using subtraction as set forthabove, the resistive to reactive ratio of a target cannot be computedsimply by dividing the background excluded components because the outputof the ground subtraction block comprises a background excludeddifference or differences, e.g. X₂ -X₁, and one or more Y components.Further processing is required to compute a resistive reactive ratio. Inaddition, a target model can be devised to process the backgroundexcluded components and produce an output value along a continuous rangeof values. The user or the detector can use this output value toidentify an unknown target.

A model of a non-ferrous target behavior can provide a continuum alongwhich unknown targets can be measured relative to known targets. Oneexample of a target model is to approximate a non-ferrous target as aresistor and inductor coupled in parallel (a resistor loaded coil). Asshown below, the X and Y components of a response signal can beexpressed in terms of a resistance R, and inductance L, using thismodel. ##EQU2##

If L and R are assumed to be constant over frequency, a resistive toinductive ratio can be computed using equation 23. This is done bymaking equation 23 specific to each frequency, then subtractingresulting equations and factoring out L/R. The result is shown inequations 24 and 25 below: ##EQU3##

This method provides a resistive to inductive ratio. The resistive toinductive ratio can easily be converted to a resistive to reactive ratioby multiplying it by frequency (i.e. ω* L/R). Because this method isbased on the assumption that L/R does not change, it suffers fromlimitations. However, the information that is provided does not requirethe user to move the search head relative to the ground as in the caseof conventional single frequency metal detectors. Also, because nofiltering is required, more usable data is available under certainoperating conditions.

The limitation of the model above is that L/R changes with frequency.Since this does not agree with the original assumption, the L/R valuefrom the above equations can be incorrect. For targets that change verylittle at the frequencies being used, the error is negligible. But fortargets that change significantly with frequency, the error issubstantial.

A model that more accurately represents the behavior of the target canprovide more information about the target type. A model that includesskin effect has proved more accurate and provides more information aboutthe target.

Because of a phenomena known as the skin effect, the resistance, R,varies with frequency. The skin effect refers to the behavior of aconductor in which current density in the conductor decreases toward itscenter with increasing frequency. This effect causes the resistanceR_(ac) to rise with increasing frequency. The ratio of the DC Resistanceto the AC Resistance is set forth below: ##EQU4##

Where:

r=Radius of the conductor in inches.

F=Frequency.

R_(ac) =Resistance at frequency "F".

R_(dc) =Direct current resistance

μr=Relative permeability of conductor material (μr=1 for copper andother nonmagnetic materials).

P=Resistivity of conductor material.

This expression assumes an isolated straight solid conductor of circularcross section, constant permeability and resistivity, and is accuratewhen R_(ac) /R_(dc) is large compared to R_(dc). While this expressionis not directly applicable to metal objects of varying shapes, theexpression for the ratio of R_(dc) to R_(ac) can be used to derive askin constant K. As a first approximation of K, the square root of thefrequency can be factored from the numerator of equation 26, leavingseveral parameters.

While the specific parameters forming a part of K cannot be computedindividually without knowing more about the target, K is still generallydescriptive of the size and shape of the target. Because permeabilityvaries little for non-ferrous targets and K is a function ofdiameter/resistivity, bigger thicker targets will tend to have a higherK than smaller thinner targets. As such, the skin constant provides ameans of size and shape discrimination. The skin constant can also allowdiscrimination between targets with similar peak frequencies, even iftheir relative depth in the ground masks the size difference.

Unfortunately, equation 26 is only accurate when the ratio of AC to DCresistance is large. The actual expression for this ratio must approachunity as the frequency approaches zero. Based on this observation andobservations of plots of the skin effect near unity, I arrived atequation 27 as a substitute for equation 26. Equation 27 approachesunity as the frequency approaches zero, and it closely approximatesequation 26 at higher frequencies. Plots of this function are verysimilar to plots representing actual skin effect. ##EQU5##

The relationship of equation 27 can be used to extract the ratio of DCresistance to inductance as well as a skin constant, K. Because Krelates to the size and shape of the target, a target modelincorporating skin effect can be used to provide additional data aboutthe size and shape of an unknown target.

Skin effect can be incorporated into a target model by making equation23 specific to each frequency. Equation 27 can then be used to relatethe resistance at each frequency as shown below. R₁ and R₂ representR_(ac) at frequencies F1 and F2 respectively. ##EQU6##

Since equations 28 and 29 are expressed in terms of radian frequency,assume that K in equations 30 and 31 is adjusted such that:

    R.sub.1 =R.sub.dc (1+K(ω.sub.1.sup.1/2))             (32)

    R.sub.2 =R.sub.dc (1+K(ω.sub.2.sup.1/2))             (33)

Once the AC resistances are defined in terms of R_(dc), R_(dc) /L can befactored out as follows: ##EQU7##

If X and Y data are available independently at both frequencies, asbefore ground is subtracted, then R_(dc) /L and K can be solved fordirectly. The result is given below: ##EQU8##

Since filters are used to remove the ground in a motion discriminatingmetal detector, X and Y are available independently. In such a system,the target model provides the additional size and shape informationdescribed above using only two frequencies. L/R_(dc) and K can also besuccessively approximated by inserting values for K in equations 34 and35 until L/R_(dc) for each equation converge.

In one embodiment, a motion discriminating metal detector thatincorporates the target model can be implemented as shown in FIG. 7. Thesignal processor 208 provides signals to operate the signal driver 210.The signal driver drives the transmit coil 212 with sinusoidal drivesignals of different frequencies. These frequencies can be providedeither simultaneously or in sequence.

Signals induced in the receive coil 214 are applied to the phasedetectors 216. The phase detectors measure the received signals at twodifferent phases for each frequency. Again, this can be donesimultaneously, or in sequence.

Signals measured by the phase detectors 216 are provided to the filters218, which are optimized for the removal of background components fromtarget data as coils 212 and 214 are swept. Examples of filter types caninclude, but are not limited to, high-pass or band-pass filters orcombinations of each on each phase detector. Digital filters of thesetypes can alternately be implemented within the signal processor 208using finite impulse response (FIR), infinite impulse response (IIR), orother digital signal processing methods.

Background filtered data, at two phases for each frequency, is providedto the signal processor 208. The signal processor computes L/R_(dc) andK either directly using equations 36 and 37, or by successiveapproximation using equations 32 and 33. This data is then provided tothe user via the output device 220. In the case of a digital filterimplementation, data from the phase detectors 216, at two phases foreach frequency, is provided to the signal processor 208. This data isthen filtered and L/R_(dc) and K are computed, within the signalprocessor, as described above. And again, the resulting data is providedto the user via the output device 220.

The input device 222 allows the user to select between various operatingmodes. For example, the user can select between a discriminating mode asdescribed above and a pinpointing mode where only target intensity isprovided to the output device.

X and Y data in the target model equations are indicative of purelyreactive and resistive measurements respectively. One method to achievethis is to set the two different phases measured at each frequency bythe phase detectors 216 to be reactive and resistive. Another method isto mathematically manipulate the data at two phases, whether filtered orunfiltered, to produce the desired X and Y components before computingL/R_(dc) and K.

In another embodiment, a motion discriminating metal detector using thetarget model can be implemented as detailed in FIG. 2. In this case, theDSP 98 can be programmed to implement the digital filters and processingto compute L/R_(dc) and K as described above. This would replace theground subtraction and target evaluation shown in block 98 of FIG. 2.

It may be desirable to update the output for L/R_(dc) and K only when atarget is present. This is commonly done in motion discriminators toreduce spurious outputs. One example would be to provide an additionalground balanced phase detector, filter its output, and update L/R_(dc)and K only when the filtered output indicates a target. Such a systemfor presenting conventional discrimination data is given in U.S. Pat.Nos. 4,128,803 and 4,783,630 which are hereby incorporated by reference.

Another example would be to gate together filtered outputs of differentphases to trigger the computation of L/R_(dc) and the skin constant Kwhen a target is within a desired range. A method for gating togetherfiltered outputs of different phases is detailed in U.S. Pat. No.4,514,692, which is hereby incorporated by reference.

In another embodiment, a metal detector that uses a differential loopand discriminates using L/R_(dc) and K can be implemented as in FIG. 7.FIG. 8 is a diagram of one example of a differential search loop. Thesearch loop includes a transmit coil 230 and a receive coil 232comprised of a first coil 234 wound in one direction, and a second coilwound in the opposite direction. The first and second coils in thereceive coil are configured such that if the same response signal isreceived in both coils, the net result is zero. This differentialconfiguration can be used to remove the background response to theextent that it is the same in both the first and second coils 234, 236.The filters 218, shown in FIG. 7) will further improve rejection of thebackground response when operated as a motion discriminator.

Hence, ground is rejected because the same ground is in front of eachdifferential coil. Targets are detected by imbalancing either of thedifferential coils, producing independent X and Y data. Although FIG. 8is one example of a differential loop, many configurations, with eitherdifferential transmit or receive coils, are possible. Under idealconditions, the filters 218 can be omitted. This allows L/R_(dc) and Kto be computed, without motion, using only 2 frequencies. In realconditions however, the coil system is orientation sensitive as well asbeing sensitive to changes in the contour and strength of the ground. Assuch, this is not a preferred embodiment for a non-motion discriminator.

Although only 2 frequencies are necessary to compute L/R_(dc) and K asdescribed in the above embodiments, additional frequencies can be addedto improve accuracy on a wider range of target types.

A target model based on skin effect can be used in environments wherethe background changes or does not change with frequency. In eithercase, the background excluded components can be processed to computeR_(dc) /L and K. The expressions for a target model that includes skineffect are provided below. R₁ and R₂ represent R_(AC) at frequencies F₁and F₂, respectively. ##EQU9##

By substituting equations 32 and 33 into equation 38 and then factoringR_(dc), the expression for L/R_(dc) in an unchanging ground becomes:##EQU10##

Equations 39 and 40 can be solved by using data extracted from signalsat three different frequencies. With this data, the parameters R_(dc) /Land K can be computed directly, or by successive approximation. Becauseof the complexity of the expression used to solve for the parametersdirectly, it may be preferable to use successive approximation.

A similar method can be used to compute R_(dc) /L and K in backgroundenvironments which change with frequency. Equations 11-14 can be used torelate the background excluded components measured in a changing groundto the X and Y components in the target model. Once this is done, anexpression for R_(dc) /L can then be derived as shown below.

Equations 41 and 42 express background excluded components in terms ofthe components measured with the X and Y phase detectors.

Since the data from the modified X axes is equal (equation 18), it mustbe subtracted to remove the background. Subtracting each side ofequation 11 from equation 13 relates this modified X axis difference tothe reactive and resistive axes (X and Y respectively). If equations 12and 14 are then used to eliminate the Y axis terms, the result is asfollows in equation 41. ##EQU11## In a similar manner, the X axis termscan be eliminated as shown in equation 42. ##EQU12##

These equations relate X or Y data between frequencies using thebackground excluded components and known constants. It is also possibleto relate between X and Y data in a similar manner. Since theseequations relate two data points, at least one data point for the targeton the resistive or reactive (X or Y) axis must be known to characterizethe target. In addition, since the axes were modified to remove abackground response that changes with frequency, the target cannot becharacterized using the modified axis definitions alone.

Since the target model defines L and R of a non-ferrous target in termsof its X and Y components, it can be used to eliminate the remainingvariables and characterize the target. Using equation 23, the targetmodel for two frequencies can be expressed as follows:

    X.sub.1 =Y.sub.1 *Lω.sub.1 /R.sub.1 and X.sub.2 =Y.sub.2 *Lω.sub.2 /R.sub.2

Where R₁ and R₂ are defined as in equations 32 and 33 to include skineffect.

If the above equations are inserted for X₁ and X₂ in equations 12 and 14and Y₁ and Y₂ are factored out, the result is as follows: ##EQU13##

These can then be inserted for Y₁ and Y₂ in equation 42 as shown below:##EQU14##

Where:

    Z.sub.1 =X.sub.2.sup." -X.sub.1.sup.' +K.sub.1 Y.sub.1.sup.' -K.sub.2 Y.sub.2.sup."                                             (46)

For an additional frequency equation 45 can be written as: ##EQU15##

Where:

    Z.sub.3 =X.sub.3.sup."' -X.sub.2.sup." +K.sub.2 (Y.sub.2.sup.")-K.sub.3 (Y.sub.3.sup."')                                          (48)

There is only one set of values for the resistive to reactive ratios(R_(n) /Lω_(n)) which cause both Equations 45 and 47 to be true. IfR_(dc) /L and the skin constant K are used to generate these ratios, asingular solution can be found.

If R_(dc) /L is factored out of equations 45 and 47, two quadraticequations result. These quadratic equations are shown as equations 49and 53 below. Equations 50-52 define the parameters of the quadraticequation 49, and equations 54-56 define the parameters of the quadraticequation 53. ##EQU16##

One of the ways to solve the quadratic equations is to use theexpression for R_(dc) /L in equations 57 and 58 below. The skin constantK is also unknown. To solve for R_(dc) /L, values of K can be chosenuntil equations 57 and 58 give the same result. When using thisapproach, one must consider that only one of the polarities for eachequation can give the correct result. ##EQU17##

Another method for solving the quadratic equations is to solve eachequation for both R_(dc) /L and (R_(dc) /L)² and use the resultingequations for each frequency to eliminate one of the terms (R_(dc) /L or(R_(dc) /L)²). The following expressions for R_(dc) /L can be derivedfrom equations 49 and 53. ##EQU18##

Using equations 59 and 60, R_(dc) /L and the skin constant K can becomputed through a successive approximation. Equations 59 and 60converge when the correct value for K is selected. When the values ofeither (R_(dc) /L)² or R_(dc) /L are negative, it is clear that anincorrect K value has been selected. As such, a K should be chosen sothat the polarity of these computed values is positive.

FIG. 9 is a flow diagram illustrating a method for computing R_(dc) /Land a skin constant K using successive approximation. The process ofsuccessive approximation begins by initializing the value of the skinconstant K. In this method, the skin constant K is initialized to zero.By initializing K to zero, the polarity of (R_(dc) /L)² and R_(dc) /L,and the ratio between the results of equations 59 and 60 can be used todetermine the relationship between R_(dc) /L and K (either proportionalor inversely proportional). After determining the relationship betweenR_(dc) /L and K, the polarity errors can be avoided, and the value of Kcan be successively approximated until the results of equations 59 and60 converge on a value for R_(dc) /L.

After initialization, (R_(dc) /L)² is computed according to equation 60.Before a ratio is computed between the results of equations 59 and 60,(R_(dc) /L)² and R_(dc) /L must both be greater than zero. Note thateither (R_(dc) /L)² or R_(dc) /L may be used to compute a ratio betweenequations 59 and 60. In the first case, the result of equation 59 issquared and divided by the result of equation 60 ((R_(dc) /L)²). In thesecond case, the result of equation 59 is divided by the square root ofthe result of equation 60 (R_(dc) /L). If the results of equations 59and 60 are both positive, the ratio between equations 59 and 60 iscomputed as shown in step 250.

The process of a successive approximation proceeds until the ratio ofthe results of equations 59 and 60 is within a predefined tolerance toone (i.e. the results of the equations converge). If the ratio is withinthis tolerance of one, a value for R_(dc) /L and the skin constant K hasbeen found.

A polarity flag, P, indicates whether R_(dc) /L is either directly orinversely proportional to the skin constant K. Extensive testing hasshown that the polarity of R_(dc) /L and (R_(dc) /L)² is indicative ofthis relationship. Once the nature of this relationship has beendetermined, the P flag is used to indicate whether the K is set to thelast high or last low guess. Once a guess for K has been made on eitherside of the correct answer for K, both flags A and B are set and thepolarity flag P is not altered until the method converges to a solution.

Referring to the path starting at block 244, the first flag (A) is setwhen (R_(dc) /L)² is negative. Next, the flags (A and B) are checked todetermine which section of the process have been passed through. If bothof the flags are not set, the skin constant K is set to a last low guess(LLG). In the first pass through the process, K is equal to zero, so itmust be set to the first guess value (FG). In subsequent passes, thevalue of K is checked to determine whether it has exceeded a predefinedmaximum guess value (MG). If it has exceeded this value, the target isevaluated to be ferrous (Iron content) and processing proceeds at block258 as described above.

However, if the skin constant K is still lower than the maximumpredefined value (MG), then K is increased by a constant factor (10 inthis case) and processing continues at block 242.

Referring back again to decision block 264, if flags A and B are set,then the polarity flag is checked. If the polarity flag is set, then theK is set to a last high guess (LHG) and processing continues with areturn to block 242.

If the polarity flag is not set, then K is set to the last low guess(LLG) and processing continues back at block 242.

Referring to decision block 248, if R_(dc) /L is computed to be negativefrom equation 59, then processing continues at block 272. At this point,the flag B is set. In the next decision block 274, the flags A and B areevaluated to determine whether a polarity reversal has occurred. If bothflags A and B are not set, then the polarity reversal flag is set toone, as shown in block 276. Processing then continues at block 278,where the skin constant K is assigned to the last low guess.

Again, if this pass is the first pass through the successiveapproximation method then the skin constant K is set to a predefinedfirst guess value (FG). Otherwise, K is evaluated to determine whetherit is under the maximum predefined value as described above. During thefirst pass through the method, the K value is zero. As long as K islower than the actual K value, it is increased by a constant factor.After the first guess has occurred, subsequent guesses are increased bythis constant factor, assuming that the first guess is below the actualK value. Once the method has exceeded the actual K value, the pathstarting with block 278 is no longer used. Instead the path startingeither with block 268 or 286 is used to guess between the saved K valueson either side of the actual K value. At this point, the polarity flag Pis fixed at 1 and error detection (blocks 252 and 254) are used todetermine if a guess is high or low relative to the actual K value.

If both the first and second flags are set, then processing continues atdecision block 284, where the polarity reversal flag (P) is evaluated.If the polarity reversal flag is set, then K is assigned to the last lowguess and processing continues back at block 242. Otherwise, K is set tothe last high guess. Before processing continues back at block 242, anew value between LLG and LHG is selected (270).

Equations 59 and 60 are evaluated and the value of the skin constant isadjusted until the ratio between the results of equations 59 and 60 areequal to one, within a predefined tolerance. When the ratio is equal toone (within this tolerance), the successive approximation process hasconverged to a value for R_(dc) /L within the predefined tolerance. Theskin constant is also known at that point. Both the ratio of R_(dc) /Land the skin constant can then be conveyed to the user or processedfurther to provide specific information regarding the type of target.

Once R_(dc) /L and K are known, other information about the target canbe derived. For instance, ωL/R at a given frequency can be computed. Assuch, computing R_(dc) /L and K is another way to compute a resistive toreactive ratio.

The peak frequency for an unknown target can be computed. The peakfrequency is the frequency at which R_(ac) =ωL, and is also thefrequency at which the phase shift is at 45°. The peak frequencyprovides another piece of data to help identify the target type.

In addition, the X-Y (or the reactive and resistive components) can beplotted over frequency. The plot can be displayed to the user as a meansfor identifying an unknown target.

After a solution for R_(dc) /L and K has been found, the control flagsand K are set to zero. The target evaluation system then waits for newdata as reflected by the loop shown in block 260 in FIG. 9. The processof successive approximation can then be repeated.

While I have explained one method for computing R_(dc) /L and the skinconstant K, there are a variety of other ways to compute these values.An alternative way is to compute R_(dc) /L and K directly using thebackground excluded components. One equation for computing R_(dc) /L isprovided below. ##EQU19##

Equation 61 provides an expression for R_(dc) /L in terms of known dataand the skin constant K. A direct, singular solution can be found forR_(dc) /L by solving one of the previous R_(dc) /L equations for theskin constant K. If this is used to replace K in equation 61, the resultcan be solved for R_(dc) /L. A direct, singular solution for K can befound in a similar manner.

Since equation 61 provides a solution for R_(dc) /L for a given K, itcan be used to successively approximate R_(dc) /L and the skin constantK. For example, any of the equations for R_(dc) /L listed above can beused by entering the same data and K until the values for R_(dc) /Lmatch. A variety of other alternative methods are possible using thesame general approach.

While I have described various embodiments in detail, I do not intend tolimit the scope of my invention to these embodiments. Above I noted thataspects of the invention enable targets to be detected and identified ina background environment without requiring motion of the detector.However, aspects of my invention can be implemented in metal detectorsthat require motion to operate properly. For instance, a metal detectorcan be designed to generate a DC resistance to inductance ratio and askin constant using the approaches described above, and it may also usemotion to help distinguish a metal target from ground. A metal detectordesigned according to the invention can include a filter or filters tohelp remove a ground response. Thus while it is possible to have a metaldetector designed in accordance with the invention without filters forremoving ground, filters can also be used in combination with theapproaches described above.

Having described and illustrated the principles of my invention withreference to a preferred embodiment and several variations thereon, itshould be apparent that the invention can be modified in arrangement anddetail without departing from its principles. Accordingly, I claim allmodifications as may come within the scope and spirit of the followingclaims.

I claim:
 1. In a metal detector, a method for generating target datacomprising:measuring background responses in response to signalstransmitted at first and second frequencies to determine a change in thebackground response with a change in frequency; searching for a targetin a background environment including: transmitting from the detector atleast two signals of different frequencies including a first signal atthe first frequency and a second signal at the second frequency;receiving responses to the first and second signals; measuring theresponse to the first signal at a first and second phase to determinefirst and second signal components of the response to the first signal;measuring the response to the second signal at a first and second phaseto determine first and second signal components of the response to thesecond signal; processing the first and second signal components of theresponses to the first and second signals to remove the backgroundresponse, the processing step including adjusting the first or secondsignal components of the responses to the first or second signals tocompensate for the change in the background response due to the changein the frequency of the transmitted signals, and removing the backgroundresponse from the responses to the first and second signals usingsubtraction to find background excluded components of the responses tothe first and second signals; and evaluating target type of the detectorby processing the background excluded components to produce datacharacterizing the target type.
 2. The method of claim 1 wherein thefirst phases at which the responses to the first and second signals aremeasured are substantially the same, the second phases at which thefirst and second signals are measured are substantially the same, andthe first and second phases are in quadrature.
 3. The method of claim 1wherein one of the first or second phases at which the responses to thefirst and second signals are measured is substantially in phase with thebackground response.
 4. The method of claim 1 wherein the first andsecond signals are transmitted substantially simultaneously.
 5. Themethod of claim 1 wherein the first signal is transmitted and received,and then the second signal is transmitted and received.
 6. The method ofclaim 5 wherein the first and second signals are repetitivelytransmitted and received in series.
 7. The method of claim 1 wherein thefirst components of the responses to the first and second signalsinclude substantially reactive components, and the second components ofthe responses to the first and second signals include substantiallyresistive components.
 8. The method of claim 1 wherein the at least twosignals include a third signal, and further including the stepsof:receiving a response to the third signal; measuring the response tothe third signal at a first and second phase to determine first andsecond signal components of the response to the third signal; processingthe first and second signal components of the response to the thirdsignal to remove a background response, the processing step includingremoving the background response from the response to the third signalusing subtraction to find background excluded components of the responseto the third signal; and comparing the background excluded componentswith stored component data for non-ferrous targets to discriminatebetween a non-ferrous and a ferrous target.
 9. The method of claim 1including the steps of:receiving a response to the third signal;measuring the response to the third signal at a first and second phaseto determine first and second signal components of the response to thethird signal; processing the first and second signal components of theresponse to the third signal to remove a background response, theprocessing step including removing the background response from theresponse to the third signal using subtraction to find backgroundexcluded components of the response to the third signal; storingcomponent data for one or more targets; adjusting the component data forthe one or more targets to account for the contribution to the componentdata from the background environment; and comparing the backgroundexcluded components to the adjusted component data for the one or morematerials to evaluate target type.
 10. The method of claim 1 includingthe steps of:receiving a response to the third signal; measuring theresponse to the third signal at a first and second phase to determinefirst and second signal components of the response to the third signal;processing the first and second signal components of the response to thethird signal to remove a background response, the processing stepincluding removing the background response from the response to thethird signal using subtraction to find background excluded components ofthe response to the third signal; and computing a target resistive toinductive ratio from the background excluded components.
 11. The methodof claim 1 wherein the step of removing the background responseincludes:subtracting the first component of the response to the firstsignal from the first component of the response to the second signal tofind a first background excluded difference; wherein the backgroundexcluded components include the first background excluded difference andthe second components of the first and second signals.
 12. The method ofclaim 11 wherein the method further includes:storing target datarepresenting responses of known targets in the absence of ground;mapping the target data to adjust for a current background condition;comparing background excluded components of a target with one or more ofthe mapped target data; and approximating target type based on thecomparing step.
 13. The method of claim 11 furtherincluding:transmitting a third signal at a third frequency; receiving aresponse to the third signal; measuring the response to the third signalat a first and second phase to determine a first and second signalcomponent of the response to the third signal; subtracting the firstcomponent of the response to the second signal from the first componentof the response to the third signal to find a second background excludeddifference, wherein the background excluded components include the firstand second background excluded differences and the second components ofthe first, second, and third signals; and computing a ratio of DCresistance to inductance of the target from the background excludedcomponents to identify target type.
 14. The method of claim 13 furtherincluding:computing a skin constant from the background excludedcomponents.
 15. The method of claim 1 wherein the step of removing thebackground response is performed without using a filter that requiresmotion of the detector relative to the background environment to removethe background response.
 16. In a metal detector, a method forgenerating target data comprising:measuring background responses inresponse to signals transmitted at first and second frequencies todetermine a change in the background response with a change infrequency; searching for a target in a background environment including:transmitting from the detector at least two signals of differentfrequencies including a first signal at a first frequency and a secondsignal at a second frequency; receiving a response to the first andsecond signal; measuring the response to the first signal at a first andsecond phase to determine first and second signal components of theresponse to the first signal; measuring the response to the secondsignal at a first and second phase to determine first and second signalcomponents of the response to the second signal; adjusting phase, gainor both phase and gain at which the response to the first or secondsignal is measured to adjust for the change in the background responsedue to the change in frequency between the first and second frequency;and processing the responses to the first and second signals to remove abackground response, the processing step including removing thebackground response by subtraction from at least one of the first orsecond components of the responses to the first and second signals. 17.The method of claim 16 including the steps of:storing component data forone or more target types; adjusting the component data for the one ormore target types to account for the contribution to the component datafrom the background environment; and comparing the background excludedcomponents to the adjusted component data for the one or more materialsto approximate target type of a target.
 18. The method of claim 16wherein the step of removing the background responseincludes:subtracting the first component of the response to the firstsignal from the first component of the response to the second signal tofind a first background excluded difference; wherein the backgroundexcluded components include the first background excluded difference andthe second components of the first and second signals.
 19. The method ofclaim 16 wherein the method further includes:computing a resistive toreactive ratio for a target from the background excluded difference andthe second components of the first and second signals; determiningtarget type for the target based on the resistive to reactive ratio. 20.The method of claim 16 further including:transmitting a third signal ata third frequency; receiving a response to the third signal; measuringthe response to the third signal at a first and second phase todetermine a first and second signal component of the response to thethird signal; subtracting the first component of the response to thesecond signal from the first component of the response to the thirdsignal to find a second background excluded difference, wherein thebackground excluded components include the first and second backgroundexcluded differences and the second components of the first, second, andthird signals; and computing a ratio of DC resistance to inductance ofthe target from the background excluded components to identify targettype.
 21. The method of claim 20 further including:computing a skinconstant from the background excluded components.
 22. A metal detectorcomprising:a coil assembly for receiving at least a first and secondresponse signal at first and second frequencies, respectively; at leastfirst and second phase detectors coupled to the coil assembly formeasuring first and second signal components at first and second phases,respectively, of the first and second response signals; and a signalprocessor coupled to the at least first and second phase detectors forreceiving the first and second signal components of the first and secondresponse signals, and for processing the first and second signalcomponents of the first and second response signals to remove abackground response by subtraction, to generate background excludedresponse data and to compute a target resistance to inductance ratiocharacterizing target type of a target from the background excludedresponse data.
 23. In a metal detector, a method for generating targetdata comprising:transmitting from the detector at least two signals ofdifferent frequencies including a first signal at a first frequency, asecond signal at a second frequency, and a third signal at a thirdfrequency; receiving responses to the first, second, and third signals;measuring the response to the first signal at a first and second phaseto determine first and second signal components of the response to thefirst signal; measuring the response to the second signal at a first andsecond phase to determine first and second signal components of theresponse to the second signal; measuring the response to the thirdsignal at a first and second phase to determine first and second signalcomponents of the response to the third signal; processing the responsesto the first, second, and third signals to remove a background response,the processing step including and removing the background response fromthe responses to the first, second and third signals using subtractionto find background excluded components of the responses to the first,second, and third signals; and evaluating target type of a targetwithout motion of the detector by processing the background excludedcomponents to compute a target resistive to inductive ratiocharacterizing the target type of the target.
 24. The method of claim 23including:computing a target resistive to inductive ratio from thebackground excluded components.
 25. In a metal detector, a method forgenerating target data comprising:transmitting from the detector atleast two signals of different frequencies including a first signal at afirst frequency, and a second signal at a second frequency; receivingresponses to the first and second signals; measuring the response to thefirst signal at a first and second phase to determine first and secondsignal components of the response to the first signal; measuring theresponse to the second signal at a first and second phase to determinefirst and second signal components of the response to the second signal;processing the responses to the first and second signals to remove abackground response, the processing step including removing thebackground response from the responses to the first and second signalsusing subtraction to find background excluded components of theresponses to the first and second signals; storing component data forone or more target types; adjusting the component data for the one ormore target types to account for the contribution to the resistive toreactive ratio from the background environment; and comparing thebackground excluded components to the adjusted component data for theone or more target types to evaluate the target type of a target.
 26. Ametal detector comprising:a coil assembly for receiving at least a firstand second response signal at first and second frequencies,respectively; at least first and second phase detectors coupled to thecoil assembly for measuring first and second signal components at firstand second phases, respectively, of the first and second responsesignals; and a signal processor coupled to the at least first and secondphase detectors for receiving the first and second signal components ofthe first and second response signals, for deriving parameters frombackground responses from a background material at the first and secondfrequencies used to adjust the first and second signal components tocompensate for a change in the background response with a change intransmitted frequency, and for adjusting the first and second signalcomponents of the first or second response signals using the parametersto compensate for the change in the background response with changes infrequency, and for processing the adjusted first and second signalcomponents of the first and second response signals to remove abackground response by subtraction and to generate background excludedresponse data.